/usr/include/Aria/ArActionJoydrive.h is in libaria-dev 2.8.0+repack-1.2ubuntu1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARACTIONJOYDRIVE_H
#define ARACTIONJOYDRIVE_H
#include "ariaTypedefs.h"
#include "ArAction.h"
#include "ArJoyHandler.h"
/// This action will use the joystick for input to drive the robot
/**
This class creates its own ArJoyHandler to get input from the
joystick. Then it will scale the speed between 0 and the given max
for velocity and turning, up and down on the joystick go
forwards/backwards while right and left go right and left. You
must press in one of the two joystick buttons for the class to pay
attention to the joystick.
@note The joystick does not save calibration information, so you
must calibrate the joystick before each time you use it. To do
this, press the button for at least a half a second while the
joystick is in the middle. Then let go of the button and hold the
joystick in the upper left for at least a half second and then in
the lower right corner for at least a half second.
@ingroup ActionClasses
**/
class ArActionJoydrive : public ArAction
{
public:
/// Constructor
AREXPORT ArActionJoydrive(const char * name = "joydrive",
double transVelMax = 400,
double turnAmountMax = 15,
bool stopIfNoButtonPressed = true,
bool useOSCalForJoystick = true);
/// Destructor
AREXPORT virtual ~ArActionJoydrive();
AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
/// Whether the joystick is initalized or not
AREXPORT bool joystickInited(void);
/// Set Speeds
AREXPORT void setSpeeds(double transVelMax, double turnAmountMax);
/// Set if we'll stop if no button is pressed, otherwise just do nothing
AREXPORT void setStopIfNoButtonPressed(bool stopIfNoButtonPressed);
/// Get if we'll stop if no button is pressed, otherwise just do nothing
AREXPORT bool getStopIfNoButtonPressed(void);
/// Sets the params on the throttle (throttle unused unless you call this)
AREXPORT void setThrottleParams(double lowSpeed, double highSpeed);
/// Sets whether to use OSCalibration the joystick or not
AREXPORT void setUseOSCal(bool useOSCal);
/// Gets whether OSCalibration is being used for the joystick or not
AREXPORT bool getUseOSCal(void);
/// Gets the joyHandler
AREXPORT ArJoyHandler *getJoyHandler(void) { return myJoyHandler; }
AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
AREXPORT virtual const ArActionDesired *getDesired(void) const { return &myDesired; }
#endif
protected:
bool myUseThrottle;
double myLowThrottle;
double myHighThrottle;
// action desired
ArActionDesired myDesired;
// joystick handler
ArJoyHandler *myJoyHandler;
// full spped
double myTransVelMax;
// full amount to turn
double myTurnAmountMax;
// if we want to stop when no button is presesd
bool myStopIfNoButtonPressed;
// if we're using os cal for the joystick
bool myUseOSCal;
bool myPreviousUseOSCal;
};
#endif //ARACTIONJOYDRIVE_H
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